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AP_Mission: do not use float functions on integers

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pitch is int8_t, yaw is int16_t
This commit is contained in:
Peter Barker 2024-08-08 12:13:25 +10:00 committed by Andrew Tridgell
parent 1f54cf39d5
commit 7d426f4741
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Mission/AP_Mission_Commands.cpp
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@ -330,8 +330,8 @@ bool AP_Mission::start_command_do_gimbal_manager_pitchyaw(const AP_Mission::Miss
}
// handle angle target
const bool pitch_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) && (fabsF(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) <= 90);
const bool yaw_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) && (fabsF(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) <= 360);
const bool pitch_angle_valid = abs(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) <= 90;
const bool yaw_angle_valid = abs(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) <= 360;
if (pitch_angle_valid && yaw_angle_valid) {
mount->set_angle_target(gimbal_instance, 0, cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg, cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg, cmd.content.gimbal_manager_pitchyaw.flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return true;